{"id":"https://openalex.org/W2163818935","doi":"https://doi.org/10.3390/s150921931","title":"A Framework for Applying Point Clouds Grabbed by Multi-Beam LIDAR in Perceiving the Driving Environment","display_name":"A Framework for Applying Point Clouds Grabbed by Multi-Beam LIDAR in Perceiving the Driving Environment","publication_year":2015,"publication_date":"2015-08-31","ids":{"openalex":"https://openalex.org/W2163818935","doi":"https://doi.org/10.3390/s150921931","mag":"2163818935","pmid":"https://pubmed.ncbi.nlm.nih.gov/26404290"},"language":"en","primary_location":{"id":"doi:10.3390/s150921931","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150921931","pdf_url":"https://www.mdpi.com/1424-8220/15/9/21931/pdf?version=1441022176","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/15/9/21931/pdf?version=1441022176","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076548924","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0002-2565-3863"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210110116","display_name":"Institute of Applied Technology","ror":"https://ror.org/01yy74248","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210110116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Liu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei 230026, China","Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei 230026, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210110116","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009978941","display_name":"Huawei Liang","orcid":"https://orcid.org/0000-0003-1581-304X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210110116","display_name":"Institute of Applied Technology","ror":"https://ror.org/01yy74248","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210110116"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huawei Liang","raw_affiliation_strings":["Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210110116","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040219819","display_name":"Zhiling Wang","orcid":"https://orcid.org/0000-0001-6797-4123"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210110116","display_name":"Institute of Applied Technology","ror":"https://ror.org/01yy74248","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210110116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiling Wang","raw_affiliation_strings":["Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Technology , Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230026, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210110116","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076522066","display_name":"Xiangcheng Chen","orcid":"https://orcid.org/0000-0002-3403-7675"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangcheng Chen","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei 230026, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei 230026, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076548924"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210110116"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.097,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85887255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"15","issue":"9","first_page":"21931","last_page":"21956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8637567758560181},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7916384935379028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6082541346549988},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5758663415908813},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5519093871116638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4912657141685486},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.478985071182251},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.4746302366256714},{"id":"https://openalex.org/keywords/road-surface","display_name":"Road surface","score":0.46882790327072144},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45072177052497864},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4226158857345581},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.32638466358184814},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2410421371459961},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2192501723766327}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8637567758560181},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7916384935379028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6082541346549988},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5758663415908813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5519093871116638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4912657141685486},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.478985071182251},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.4746302366256714},{"id":"https://openalex.org/C2780042925","wikidata":"https://www.wikidata.org/wiki/Q1049667","display_name":"Road surface","level":2,"score":0.46882790327072144},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45072177052497864},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4226158857345581},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32638466358184814},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2410421371459961},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2192501723766327},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s150921931","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150921931","pdf_url":"https://www.mdpi.com/1424-8220/15/9/21931/pdf?version=1441022176","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:26404290","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26404290","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:93949c242f7a4997ad48261e7cc24c8a","is_oa":true,"landing_page_url":"https://doaj.org/article/93949c242f7a4997ad48261e7cc24c8a","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 15, Iss 9, Pp 21931-21956 (2015)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3589078","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4610471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/15/9/21931/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s150921931","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s150921931","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150921931","pdf_url":"https://www.mdpi.com/1424-8220/15/9/21931/pdf?version=1441022176","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2163818935.pdf","grobid_xml":"https://content.openalex.org/works/W2163818935.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1967268730","https://openalex.org/W1973807914","https://openalex.org/W1984266349","https://openalex.org/W1991748237","https://openalex.org/W1994114209","https://openalex.org/W2002266720","https://openalex.org/W2011019877","https://openalex.org/W2013002270","https://openalex.org/W2013133194","https://openalex.org/W2014240407","https://openalex.org/W2027781877","https://openalex.org/W2031454541","https://openalex.org/W2033771752","https://openalex.org/W2035515748","https://openalex.org/W2043683192","https://openalex.org/W2044164936","https://openalex.org/W2051135967","https://openalex.org/W2055207897","https://openalex.org/W2061600793","https://openalex.org/W2069940231","https://openalex.org/W2077057258","https://openalex.org/W2092282499","https://openalex.org/W2092846695","https://openalex.org/W2104095591","https://openalex.org/W2107902797","https://openalex.org/W2113163629","https://openalex.org/W2115519229","https://openalex.org/W2115574509","https://openalex.org/W2117367877","https://openalex.org/W2121009299","https://openalex.org/W2127893564","https://openalex.org/W2129431236","https://openalex.org/W2131316180","https://openalex.org/W2132360065","https://openalex.org/W2136767008","https://openalex.org/W2137868466","https://openalex.org/W2138273245","https://openalex.org/W2138302688","https://openalex.org/W2151171789","https://openalex.org/W2154844948","https://openalex.org/W2399732523","https://openalex.org/W2406067508","https://openalex.org/W2760981468","https://openalex.org/W4235740860","https://openalex.org/W4293682399"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4322716016","https://openalex.org/W2588867189","https://openalex.org/W4387445808"],"abstract_inverted_index":{"The":[0,24,136],"quick":[1],"and":[2,34,106,112,123,131,164],"accurate":[3],"understanding":[4],"of":[5,12,50,71,88,101],"the":[6,41,47,51,65,69,89,94,99,146,156,166],"ambient":[7],"environment,":[8],"which":[9,63],"is":[10,18,75,83,139,149,159],"composed":[11],"road":[13,25,32,36,108],"curbs,":[14],"vehicles,":[15],"pedestrians,":[16],"etc.,":[17],"critical":[19],"for":[20,46,120,151,168],"developing":[21],"intelligent":[22],"vehicles.":[23],"elements":[26],"included":[27],"in":[28,68,77,114],"this":[29,78],"work":[30],"are":[31,110,118,125,134],"curbs":[33],"dynamic":[35,107,143],"obstacles":[37,109],"that":[38,155],"directly":[39],"affect":[40],"drivable":[42],"area.":[43],"A":[44],"framework":[45,158],"online":[48,102,169],"modeling":[49],"driving":[52],"environment":[53,67,103],"using":[54],"a":[55,59,72],"multi-beam":[56],"LIDAR,":[57,62],"i.e.,":[58],"Velodyne":[60,95],"HDL-64E":[61],"describes":[64],"3D":[66],"form":[70,130],"point":[73],"cloud,":[74],"reported":[76],"article.":[79],"First,":[80],"ground":[81],"segmentation":[82],"performed":[84],"via":[85],"multi-feature":[86],"extraction":[87],"raw":[90],"data":[91],"grabbed":[92],"by":[93],"LIDAR":[96],"to":[97,141],"satisfy":[98],"requirement":[100],"modeling.":[104],"Curbs":[105],"detected":[111],"tracked":[113],"different":[115],"manners.":[116],"Curves":[117],"fitted":[119],"curb":[121],"points,":[122],"points":[124],"clustered":[126],"into":[127],"bundles":[128],"whose":[129],"kinematics":[132],"parameters":[133],"calculated.":[135],"Kalman":[137],"filter":[138],"used":[140],"track":[142],"obstacles,":[144],"whereas":[145],"snake":[147],"model":[148],"employed":[150],"curbs.":[152],"Results":[153],"indicate":[154],"proposed":[157],"robust":[160],"under":[161],"various":[162],"environments":[163],"satisfies":[165],"requirements":[167],"processing.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}